Vijay Muralidharan, Maruthi T. Ravichandran, Arun D. Mahindrakar. Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot. In Proceedings of the 48th IEEE Conference on Decision and Control, CDC 2009, combined withe the 28th Chinese Control Conference, December 16-18, 2009, Shanghai, China. pages 6305-6310, IEEE, 2009. [doi]
Abstract is missing.